arXiv:2506.23624
Towards Universal Shared Control in Teleoperation Without Haptic Feedback
Towards Universal Shared Control in Teleoperation Without Haptic Feedback
著者: Max Grobbel, Tristan Schneider, Sören Hohmann
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories while actively suppressing liquid slosh in a glass. The controller maintains 13 ms average planning latency, confirming real-time performance and motivating the augmentation of this teleoperation approach to further objectives.